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OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots

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Abstract

Odometry calibration adjusts the kinematic parameters or directly the robot’s model to improve the wheeled odometry accuracy. The existent literature considers in the calibration procedure only one steering geometry (differential drive, Ackerman/tricycle, or omnidirectional). Our method, the OptiOdom calibration algorithm, generalizes the odometry calibration problem. It is developed an optimization-based approach that uses the improved Resilient Propagation without weight-backtracking (iRprop-) for estimating the kinematic parameters using only the position data of the robot. Even though a calibration path is suggested to be used in the calibration procedure, the OptiOdom method is not path-specific. In the experiments performed, the OptiOdom was tested using four different robots on a square, arbitrary, and suggested calibration paths. The OptiTrack motion capture system was used as a ground-truth. Overall, the use of OptiOdom led to improvements in the odometry accuracy (in terms of maximum distance and absolute orientation errors over the path) over the existent literature while being a generalized approach to the odometry calibration problem. The OptiOdom and the methods from the literature implemented in the article are available in GitHub as an open-source repository.

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Funding

This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation – COMPETE 2020 Programme, and by National Funds through the Portuguese funding agency, FCT – Fundação para a Ciência e a Tecnologia, within project SAICTPAC/0034/2015- POCI-01-0145-FEDER-016418. This work is also financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation – COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.

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Authors and Affiliations

  1. Electrical Engineering Department, Faculty of Engineering of the University of Porto, Porto, 4200-465, Portugal

    Ricardo B. Sousa, Paulo G. Costa & António Paulo Moreira

  2. CRIIS – Centre for Robotics in Industry and Intelligent Systems, INESC TEC – Institute for Systems and Computer Engineering, Technology and Science, Porto, 4200-465, Portugal

    Ricardo B. Sousa, Marcelo R. Petry, Paulo G. Costa & António Paulo Moreira

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  1. Ricardo B. Sousa
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Contributions

Ricardo B. Sousa: conceptualization, methodology, formal analysis and investigation, software, data acquisition, writing – original draft preparation. Marcelo R. Petry: conceptualization, methodology, writing – review and editing, supervision. Paulo G. Costa: data acquisition, software, writing – review and editing, resources. António Paulo Moreira: conceptualization, methodology, funding, software, writing – review and editing, supervision, resources.

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Correspondence to Ricardo B. Sousa.

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The authors confirm that the data supporting the findings of this study are available in a GitHub repository referenced in the text.

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All code generated or used during the study are available in a GitHub repository referenced in the text.

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This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation – COMPETE 2020 Programme, and by National Funds through the Portuguese funding agency, FCT – Fundação para a Ciência e a Tecnologia, within project SAICTPAC/0034/2015- POCI-01-0145-FEDER-016418. This work is also financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation – COMPETE 2020 Programme within project POCI-01-0145-FEDER-006961, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.

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Sousa, R.B., Petry, M.R., Costa, P.G. et al. OptiOdom: a Generic Approach for Odometry Calibration of Wheeled Mobile Robots. J Intell Robot Syst 105, 39 (2022). https://doi.org/10.1007/s10846-022-01630-3

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